Method, system, and computer program product for gnss receiver signal health and security analysis

ABSTRACT

Methods, systems, and computer program products are provided for analyzing a Global Navigation Satellite System (GNSS) receiver. The method includes receiving electronic diagnostic information from the GNSS receiver, the diagnostic information including observations at different times of signal strength of one or more satellites at each point in a visible sky. The method includes building a flat map of the visible sky including a track of the one or more satellites. The method includes calculating, for each point in the visible sky of the flat map, an aggregated signal strength of the one or more satellites over a predetermined interval. The method includes generating a heat map over the flat map of the visible sky and displaying a visualization of a flat heat map.

PRIORITY CLAIM AND CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims priority to U.S. Provisional PatentApplication Ser. No. 62/164,418, filed May 20, 2015, which is herebyincorporated by reference in its entirety.

TECHNICAL FIELD

Aspects of this disclosure relate to the monitoring and analysis of thehealth and security of Global Navigation Satellite System (GNSS)receivers.

BACKGROUND

Global Navigation Satellite System (GNSS) receivers are electronicdevices that receive and digitally process signals transmitted bysatellites to, for example, estimate time and position data. Stationaryreceivers are primarily used to obtain precise time while mobilereceivers often also calculate geospatial location of the receiver. Dataproduced by these receivers is often of critical importance in businessoperations, logistics, navigation, robotics, and other applications.

However, signals from GNSS, such as from the United States GlobalPositioning System (GPS), may be weak and can be blocked or compromisedaccidently or on purpose. For example, adding a new GPS antenna to arooftop over a data center could produce interference that wouldpartially or even completely interfere with operation of other antennas.Injection of false information into the satellite signal is also adanger. Researchers have demonstrated that it is possible to receive andthen retransmit modified GPS signals in order to change the time orposition information on a GPS receiver.

GNSS satellites may transmit messages encoding time and orbitalinformation that receivers may digitally receive and process in order tocalculate receiver position and precise time. In view of the fragilityof these receivers and the critical nature of their operation, somemethods have been proposed to monitor and detect problems.

Heat maps and azimuth or elevation maps may be used to depict whichsatellites are visible at a given instance in time using “current state”data. For example, FIG. 1 depicts an azimuth/elevation chart of GPSsatellite positions.

FIG. 1 is a typical flat satellite azimuth/elevation map. It gives“current state” data about which satellites are currently visible orhave been visible over some period of data collection. Anazimuth/elevation map may depict the four cardinal directions (e.g.,North “N,” South “S,” East “E,” West “W”) with circles at differentcoordinates in the map that indicate the positions of one or moresatellites in a visible sky. However, the current state information inthe map of FIG. 1 may be only of limited use because it does not showany information about satellite obstructions, only the current state ofvisible satellites.

FIG. 2 depicts a heat map for visualizing satellite signal strength. Aheat map may refer generally to any graphical representation of datawhere the individual values contained in a matrix may be represented ascolors or by grayscale. In FIG. 2, the regions marked by lines spacedfarther apart may indicate, for example, a higher satellite signalstrength, whereas the regions marked by lines spaced closer together orcross hatched may indicate, for example, a lower satellite signalstrength. FIG. 2 depicts a heat map for visualizing signal strength thatis overlaid over a geophysical map. Various techniques for collectingcurrent state signal strength data and building a heat-map correlated toa geophysical map are known to those skilled in the art, as shown inFIG. 2.

FIG. 2 is from an existing open source radio project that takes datathat is output from a Register-transfer level chipset (e.g., RTL2832U)Software Defined Radio (RTL-SDR) Scanner (e.g., a program that collectssignal strength data over any desired bandwidth) and at the same timerecords GPS coordinates using an external GPS receiver. See “Creating aSignal Strength Heatmap with an RTL-SDR,” available athttp://www.rtl-sdr.com/creating-signal-strength-heatmap-rtl-sdr/ (Sep.25, 2014), and “GSM heatmap using RTL-SDR” comments, available athttp://www.reddit.com/r/RTLSDR/comments/2hbjyt/gsm_heatmap_using_rtlsdr/(Sep. 24, 2014). Additionally, a paper in Science Reports, Xingxing Liet al., “Precise positioning with current multi-constellation GlobalNavigation Satellite Systems: GPS, GLONASS, Galileo and BeiDouScientific Reports 5, Article number: 8328 doi:10.1038/srep08328 (Feb.9, 2015), available athttp://www.nature.com/srep/2015/150209/srep08328/full/srep08328.html(“Li”), which is hereby incorporated herein by reference in itsentirety, describes some standard data collection and analysis methodsapplied to GPS systems.

FIG. 3 depicts a time series of GPS satellite positions, taken from Li.FIGS. 4A and 4B depict a signal-to-noise ratio of different satellitesystems and orbital types at the GMSD station (Japan), taken from Li.FIGS. 3 and 4A-B depict both the satellite tracks of visible satellitesand the signal strength information being collected over time. However,since each point may correspond to signals from multiple satellites withconfigurations changing over time, there is no straightforward oroptimal way to see whether there are obstructions from this data or todetect spoofing that could change signal strength over some spatialregion.

SUMMARY

Accordingly, there exists a need in the art to correlate the satellitetracks of visible satellites and the signal strength information beingcollected over time in order to develop a flat map showing signalstrength at points in the sky. Exemplary embodiments disclosed hereinuse a novel combination of data analysis techniques to provide robustand actionable signal health and security analysis of GNSS receivers. Inexemplary embodiments, two or more levels of combined time series datamay be used to replace the simple “current state” data in existing GNSSmonitoring systems, and the time series data may then be used to providediagnostics.

Diagnostic information can be retrieved from most receivers, and thediagnostic information may contain, for each visible satellite, thetime, position (altitude and azimuth) and signal strength of the last orsome number of recent messages digitally received at the receiver fromthe visible satellites.

According to one aspect, a computer-implemented method for analyzing aGlobal Navigation Satellite System (GNSS) receiver is provided. Themethod includes the steps of: receiving, by the computer, electronicdiagnostic information from the GNSS receiver, the diagnosticinformation including a plurality of observations at different times ofsignal strength of one or more satellites at each point in a visiblesky; building, by the computer, a flat map of the visible sky using thereceived diagnostic information, wherein the flat map includes a trackof the one or more satellites; calculating, by the computer, for eachpoint in the visible sky of the flat map, an aggregated signal strengthof the one or more satellites over a predetermined interval using thereceived diagnostic information; generating, by the computer, a heat mapover the flat map of the visible sky and the calculated aggregatedsignal strengths; displaying, by the computer, a visualization of a flatheat map on a graphical user interface of a display device, the flatheat map including the generated heat map over the flat map of thevisible sky; and, storing, by the computer, the diagnostic informationand the flat heat map in an observation database.

In some embodiments, the method further includes: analyzing, by thecomputer, the aggregated signal strengths of the one or more satellitesin the flat heat map to detect one or more problems with the GNSSreceiver; and, generating, by the computer, an alert if the one or moreproblems are detected in the flat heat map.

In further embodiments, the method includes: determining, by thecomputer, whether one or more conditions are present in the flat heatmap, the conditions including: the clear signal areas in the flat heatmap are too small; there are significant occlusions in the flat heatmap; there are strong signals coming from areas where satellite signalswould be unlikely or impossible in the flat heat map; and there areareas of signal strength in the flat heat map that are too uniform.

In other embodiments, the method includes: generating, by the computer,a time series of a plurality of flat heat maps, the plurality of flatheat maps including the generated flat heat map and one or more storedheat maps in the observation database; analyzing, by the computer, thetime series of flat heat maps to detect one or more problems with theGNSS receiver; and generating, by the computer, an alert if the one ormore problems are detected in the time series of flat heat maps.

In further embodiments, the method includes determining, by thecomputer, whether one or more conditions are present in the time seriesof flat heat maps, the conditions including: the time series of heatmaps indicates a sudden increase or decrease in region signal strength,there are new or removed blocked regions in the time series of flat heatmaps, and a plurality of areas of signal strength change by a uniformamount in the time series of flat heat maps.

In other embodiments, the method includes: associating, by the computer,the points in the visible sky of the flat heat map with a geophysicalmapping database and, displaying, by the computer, the visualization ofthe flat heat map overlaid on a geophysical mapping database on thedisplay device.

In further embodiments, the method includes: validating, by thecomputer, a quality of one or more radio signals from one or more GNSSsatellites based on the diagnostic information and the flat heat map;and, detecting, by the computer, a problem with the one or more radiosignals based on the validating. In some embodiments, the methodincludes triggering, by the computer, a failover operation in responseto detecting a problem with the one or more radio signals. In someembodiments, the failover operation is one or more of: switching from astream from the one or more GNSS satellites to an alternative GNSSsatellite stream, validating a safety system, and replacing positioning,time, or a combination of positioning and time information from the oneor more GNSS satellites with synthetic information.

In another aspect, a system for analyzing a Global Navigation SatelliteSystem (GNSS) receiver is provided. The system includes an observationdatabase in electronic communication with a network, a GNSS receiveranalysis computer including a processor, a data storage unit, a networkinterface, and a display device in electronic communication with thenetwork. The processor is configured to cause the server to perform thefollowing steps: receive, over the network, electronic diagnosticinformation from the GNSS receiver, the diagnostic information includinga plurality of observations at different times of signal strength of oneor more satellites at each point in a visible sky; build a flat map ofthe visible sky using the received diagnostic information, wherein theflat map includes a track of the one or more satellites; calculate, foreach point in the visible sky, an aggregated signal strength of the oneor more satellites over a predetermined interval using the receiveddiagnostic information; generate a heat map over the flat map of thevisible sky and the calculated aggregated signal strengths; display avisualization of a flat heat map on a graphical user interface of thedisplay device, the flat heat map including the generated heat map overthe flat map of the visible sky; and store the diagnostic informationand the flat heat map in the observation database.

In some embodiments, the processor is configured to cause the server toperform the additional steps of: analyze the aggregated signal strengthsof the one or more satellites in the flat heat map to detect one or moreproblems with the GNSS receiver; and generate an alert if the one ormore problems are detected in the flat heat map.

In further embodiments, the analyzing includes: determine whether one ormore conditions are present in the flat heat map, the conditionsincluding: the clear signal areas in the flat heat map are too small;there are significant occlusions in the flat heat map; there are strongsignals coming from areas where satellite signals would be unlikely orimpossible in the flat heat map, and there are areas of signal strengthin the flat heat map that are too uniform.

In other embodiments, the processor is configured to cause the server toperform the additional steps of: generate a time series of a pluralityof flat heat maps, the plurality of flat heat maps including thegenerated flat heat map and one or more stored flat heat maps in theobservation database; analyze the time series of flat heat maps todetect one or more problems with the GNSS receiver; and generate analert if the one or more problems are detected in the time series offlat heat maps.

In further embodiments, the processor is configured to cause the serverto perform the additional step of: determine whether one or moreconditions are present in the time series of flat heat maps, theconditions including: the time series of flat heat maps indicates asudden increase or decrease in region signal strength, there are new orremoved blocked regions in the time series of flat heat maps, and aplurality of areas of signal strength change by a uniform amount in thetime series of flat heat maps.

In yet other embodiments, the processor is configured to cause theserver to perform the additional steps of: associate the points in thevisible sky of the flat heat map with a geophysical mapping database;and display, by the computer, the visualization of the flat heat mapoverlaid on a geophysical mapping database on the display device.

According to another aspect, a non-transitory computer readable mediumstoring computer readable program code executable by a processor of acomputer system for analyzing a Global Navigation Satellite System(GNSS) receiver is provided. The computer readable program codeexecutable by the processor causing the computer system to perform thesteps of: receive electronic diagnostic information from the GNSSreceiver, the diagnostic information including a plurality ofobservations at different times of signal strength of one or moresatellites at each point in a visible sky; build a flat map of thevisible sky using the received diagnostic information, wherein the flatmap includes a track of the one or more satellites; calculate, for eachpoint in the visible sky, an aggregated signal strength of the one ormore satellites over a predetermined interval using the receiveddiagnostic information; generate a heat map over the flat map of thevisible sky and the calculated aggregated signal strengths; display avisualization of a flat heat map on a graphical user interface of adisplay device of the computer system, the flat heat map including thegenerated heat map over the flat map of the visible sky; and store thediagnostic information and the flat heat map in an observation database.

In some embodiments, the non-transitory computer readable medium causesthe computer system to perform the steps of: analyze the aggregatedsignal strengths of the one or more satellites in the flat heat map todetect one or more problems with the GNSS receiver; and, generate analert if the one or more problems are detected in the flat heat map.

In a further embodiment, the non-transitory computer readable mediumcauses the computer system to perform the steps of: determine whetherone or more conditions are present in the flat heat map, the conditionsincluding: the clear signal areas in the flat heat map are too small;there are significant occlusions in the flat heat map; there are strongsignals coming from areas where satellite signals would be unlikely orimpossible in the flat heat map; and there are areas of signal strengthin the flat heat map that are too uniform.

In other embodiments, the non-transitory computer readable medium causesthe computer system to perform the steps of: generate a time series of aplurality of flat heat maps, the plurality of flat heat maps includingthe generated flat heat map and one or more stored heat maps in theobservation database; analyze the time series of flat heat maps todetect one or more problems with the GNSS receiver; and generate analert if the one or more problems are detected in the time series offlat heat maps.

In a further embodiment, the non-transitory computer readable mediumcauses the computer system to perform the steps of: determine whetherone or more conditions are present in the time series of flat heat maps,the conditions including: the time series of heat maps indicates asudden increase or decrease in region signal strength, there are new orremoved blocked regions in the time series of flat heat maps, and aplurality of areas of signal strength change by a uniform amount in thetime series of flat heat maps.

In an additional embodiment, the non-transitory computer readable mediumcauses the computer system to perform the steps of: associate the pointsin the visible sky of the flat heat map with a geophysical mappingdatabase and, display the visualization of the flat heat map overlaid ona geophysical mapping database on the display device.

In another aspect, a computer-implemented method for improving thereliability of a computer that performs time sensitive or time stampeddata processing is provided. The method includes: receiving, by thecomputer, electronic diagnostic information from a Global NavigationSatellite System (GNSS) receiver, said diagnostic information includinga plurality of observations at different times of signal strength of oneor more satellites at each point in a visible sky; building, by thecomputer, a flat map of the visible sky using the received diagnosticinformation, wherein the flat map includes a track of the one or moresatellites; calculating, by the computer, for each point in the visiblesky of the flat map, an aggregated signal strength of the one or moresatellites over a predetermined interval using the received diagnosticinformation; generating, by the computer, a heat map over the flat mapof the visible sky and the calculated aggregated signal strengths;validating, by the computer, a quality of one or more radio signals fromone or more GNSS satellites based on the diagnostic information and theflat heat map; and, synchronizing, by the computer, one or more systemclocks to reference time carried by the one or more GNSS satellitesbased on the validating.

In some embodiments, the one or more system clocks are implemented on anetwork clock device that provides reference time to one or more clientor slave computers over a computer network.

In another aspect, a computer-implemented method for improving thereliability of a system that distributes reference time information overa computer network is provided. The method includes: receiving, by thesystem, electronic diagnostic information from a Global NavigationSatellite System (GNSS) receiver, said diagnostic information includinga plurality of observations at different times of signal strength of oneor more satellites at each point in a visible sky; building, by thesystem, a flat map of the visible sky using the received diagnosticinformation, wherein the flat map includes a track of the one or moresatellites; calculating, by the system, for each point in the visiblesky of the flat map, an aggregated signal strength of the one or moresatellites over a predetermined interval using the received diagnosticinformation; generating, by the system, a heat map over the flat map ofthe visible sky and the calculated aggregated signal strengths;transmitting, by the system, the flat heat map, the diagnosticinformation, or a combination of the flat heat map and the diagnosticinformation, over the network to one or more networked computers topermit the networked computers to determine whether the system isreceiving reference time carried by one or more GNSS satellites in areliable manner.

In another aspect, a computer-implemented method for validating andmonitoring the performance of one or more Global Navigation SatelliteSystem (GNSS) receivers is provided. The method includes: receiving, bya computer, electronic diagnostic information, said diagnosticinformation including a plurality of observations at different times ofsignal strength of one or more satellites at each point in a visiblesky; receiving, by the computer, a flat heat map, wherein the flat heatmap is based on the electronic diagnostic information and comprises: acombination of a heat map of aggregate signal strength of the one ormore satellites over a predetermined interval, and a flat map of one ormore tracks of the one or more satellites; and, validating, by thecomputer, a quality of reference time data carried by one or more radiosignals from one or more GNSS satellites based on the diagnosticinformation and the flat heat map.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated herein and form partof the specification, illustrate various embodiments of the presentdisclosure and, together with the description, further serve to explainthe principles of the disclosed systems and methods and to enable aperson skilled in the pertinent art to make and use those systems andmethods. In the drawings, like reference numbers indicate identical orfunctionally similar elements.

FIG. 1 depicts an azimuth/elevation chart of GPS satellite positions.

FIG. 2 depicts a heat map for visualizing satellite signal strength.

FIG. 3 depicts a time series of GPS satellite positions.

FIG. 4A depicts a signal-to-noise ratio of different satellite systemsand orbital types at GMSD.

FIG. 4B depicts a signal-to-noise ratio of different satellite systemsand orbital types at GMSD.

FIG. 5 is a schematic diagram of a receiver analysis system, accordingto exemplary embodiments of the present invention.

FIG. 6 is a flow diagram of a method for generating a flat map and heatmap of satellite signal strength, according to exemplary embodiments ofthe present invention.

FIG. 7 depicts a flat map showing satellite tracks and a heat map ofsatellite signal strength, according to exemplary embodiments of thepresent invention.

FIG. 8 is an illustrative workspace window depicting a web-browser viewof a flat map and geophysical map, according to exemplary embodiments ofthe present invention.

FIG. 9 is a flow diagram of a method for GNSS receiver signal health andsecurity analysis, according to exemplary embodiments of the presentinvention.

FIG. 10 is a schematic diagram illustrating a GNSS receiver analysissystem, according to exemplary embodiments of the present invention.

DETAILED DESCRIPTION

FIG. 5 depicts a schematic diagram of a GNSS receiver analysis system.As shown in FIG. 5, one or more GNSS receivers 120 a-n may processsignals broadcasted by one or more satellites 130 a-n from space. Insome embodiments, satellites 130 a-n may comprise one or more globalnavigation satellite systems, such as, for example, NAVSTAR GlobalPositioning System (GPS), Galileo, BeiDou, and GLObal NavigationSatellite System (“GLONASS”). Since the satellites 130 a-n areconstantly in motion, the GNSS receiver 120 may continuously acquire andtrack the signals from the satellites 130 a-n. For example, several GNSSsystems (satellites 130 and receivers 120) may use Code DivisionMultiple Access (CDMA) or Frequency Division Multiple Access (FDMA)technology known in the art to transmit and process several satellitesignals.

The GNSS receiver 120 may comprise an antenna system for receiving anddigitizing signals from satellites 130 a-n and a digital system forprocessing the received digital signals. In some embodiments, thedigital system of GNSS receiver 120 may comprise a processor configuredto convert the received signals from satellites 130 a-n into position,velocity, and time estimates. Available techniques for converting suchinformation are known to those skilled in the art. The GNSS receiver 120may further comprise a non-transitory data storage unit for recordingobservation data associated with received signals from satellites 130a-n. For example, in response to receiving and processing a signal froma satellite 130 a, the GNSS receiver 120 may store, in the data storageunit, observation data that includes the identity of the satellite 130a, the strength of the signal received from the satellite 130 a, and thetime, position, and velocity estimates.

The GNSS receiver's 120 position, velocity, and time estimates may beaffected by noise and errors with the signals from satellites 130 a-ndue to, for example, the propagation of signals through atmosphericlayers and noise measurements. The digital system of the GNSS receiver120 may measure the signal strength of the different satellites 130 a-nit is tracking, for example, by calculating the signal to noise ratio(SNR) or the carrier to noise ratio (CNR or C/N) of a received signal.

A GNSS Receiver Analysis System 100 may periodically query the GNSSreceiver 120 for diagnostic information. The diagnostic information maycomprise output messages from the GNSS receiver 120, the output messagescomprising the observation data of satellites 130 a-n, including thetime, position, velocity, and signal strength estimates. For example,the diagnostic information may be retrieved using one or more serialports of a GNSS receiver. In some embodiments, the diagnosticinformation may comprise, for example, standard messages, according to,for example, the National Marine Electronics Association (“NMEA”)standards (e.g., NMEA-0183). NMEA format messages may comprise theposition, velocity, and time information computed by GNSS receiver 120,as well as position, number of satellites in view, elevation, azimuth,etc. In embodiments where the GNSS receiver 120 is connected to anetwork 140, such as a cellular network or Internet network, the GNSSreceiver analysis system may query the GNSS receiver 120 over thenetwork 140 for diagnostic information. In some embodiments, diagnosticinformation from GNSS receiver 120 may be transmitted wirelessly overnetwork 140, or via a cable, such as an Ethernet cable. In otherembodiments where the GNSS receiver 120 is not connected to a network140, the GNSS receiver 120 may be in electronic communication with GNSSreceiver analysis system 100 through a direct hardwire connection via aserial port on the GNSS receiver 120.

In some embodiments, GNSS receiver analysis system 100 may furthercomprise an observation database 105 for storing diagnostic informationor output messages queried from GNSS receiver 120. In some embodiments,observation database 105 may be in the same housing as GNSS receiveranalysis system 100, and in other embodiments, observation database 105may be in separate housing from the GNSS receiver analysis system 100and may be in electronic communication with the GNSS receiver analysissystem 100 through a hardwire connection, a local wireless connection,or via network 140.

FIG. 6 depicts a flow diagram of a method for generating a flat map andheat map of satellite signal strength, according to some embodiments. Inpreferred embodiments, method 600 is performed by GNSS receiver analysissystem 100.

At step 601, the GNSS receiver analysis system 100 may periodicallyquery the GNSS receiver 120 for diagnostic information. The diagnosticinformation may comprise, for example, output messages from the GNSSreceiver 120, including observation data of one or more satellites 130a-n, such as signal strength and estimated time and position data.

At step 602, the GNSS receiver analysis system 100 may add the newdiagnostic information to observation database 105.

At step 603, the GNSS receiver analysis system 100 determines if thereis enough data in the observation database 105 to generate a sky survey,or flat heat map. In some embodiments, the GNSS receiver analysis system100 may determine there is enough data if observation data over apre-determined time interval is present in the observation database 105.In some embodiments, the pre-determined time interval may be very short,such as a few minutes, and in other embodiments, the pre-determined timeinterval may span several hours, days, weeks, or months. As described indetail below, the time interval may be determined based on the desiredanalysis of the diagnostic information. If there is insufficient datafor a sky survey, as determined in step 603, then the GNSS receiveranalysis system 100 will return to step 601 to query and processdiagnostic information from the GNSS receiver 120.

If there is sufficient data for a sky survey, as determined in step 603,then the GNSS receiver generates and outputs a flat heat map of thesatellite observations over an interval of time in step 604. The flatmap and heat map is generated based on a plurality of GNSS receivermessages, or diagnostic information, stored in observation database 105.

FIG. 7 depicts a flat map showing satellite tracks and a heat map ofsatellite signal strength, according to some embodiments. In preferredembodiments, the flat map and heat map 700 of FIG. 7 may be generated bythe GNSS receiver analysis system 100 using a plurality of GNSS receiver100 messages, or diagnostic information, stored in observation database105. The flat map 700 depicts portions of the visible sky, and mayinclude, for example, the satellite tracks 705 of one or more satellites130 a-n tracked by GNSS receiver 120 across the visible sky over apredetermined time interval.

The flat map 700 further depicts a heat map indicating average signalstrength of the one or more satellites 130 a-n over the predeterminedtime interval. For ease of reference, FIG. 7 includes a heat map legend750 indicating average signal strength (dB Hz) over a predeterminedinterval. As depicted in the heat map legend 750, areas in the heat map700 of the visible sky with weaker signal strength (e.g., 35 dB Hz) areindicated by a darker color (e.g., black), whereas areas in the heat map700 of the visible with stronger signal strength (e.g., 44 dB Hz) areindicated by a different or lighter color (e.g., gray). In someembodiments, the GNSS receiver analysis system 100 may perform astatistical aggregation technique (for example, averaging) to calculatean aggregate signal strength of one or more satellites' 130 a-n signalsover a pre-determined time interval using the plurality of GNSS receivermessages, or diagnostic information, stored in the observation database105.

The heat map 700 may identify signal strength in regions of the sky andmay further be used to diagnose obstructions, interference, and otherissues, as described below. As shown in FIG. 7, the GNSS receiveranalysis system 100 may generate images of the heat/flat maps fordisplay in a graphical user interface of a display device and storethese images in observation database 105. In preferred embodiments, theflat map 700 includes time series data from repeated queries of GNSSreceiver 120 diagnostic information so that the flat map 700 shows thepaths or tracks 705 and signal strengths of all visible satellites 130a-n over a time interval.

FIG. 8 is an illustrative workspace window depicting a web-browser viewof a flat map and geophysical map, according to some embodiments.Illustrative workspace window 800 comprises a web browser display thatmay be visualized on a graphical user interface of a computing device.In some embodiments, GNSS receiver analysis system 100 may comprise acomputer, such as, for example, a computer server, with a networkinterface for transmitting and receiving messages over a network 140,such as the Internet. The GNSS receiver analysis system 100 may receivea request from a user, via the user's computing device (laptop, desktop,mobile device, tablet, etc.), over network 140 for diagnosticinformation regarding one or more GNSS receivers 120. In response to therequest, the GNSS receiver analysis system 100 may transmit a responseto the user's computing device comprising data to generate theillustrative workspace window 800 shown in FIG. 8. In some embodiments,a user may transmit the request to the GNSS receiver analysis system 100using web browser technology known in the art.

The illustrative workspace window, or web browser display 800, mayinclude one or more of a plurality of diagnostic information 810regarding one or more GNSS receivers 120, a flat/heat map 700 with heatmap legend 750, and a geophysical map 820. The diagnostic information810 may include, for example, a timing status, hardware status, syncsource, source state, and source accuracy of one or more GNSS receivers120. The source state may comprise data indicating, for example, ajamming/noise percentage, the number of satellites 130 in view, themaximum signal strength of one or more satellites, etc., from the GNSSreceiver 120. The illustrative workspace window may further comprise aheat map 700 and accompanying heat map legend 750 for the GNSS receiver120 over a predetermined interval of time, as described above inconnection with FIG. 7.

In some embodiments, the GNSS receiver analysis system 100 may associatethe position information from observation database 105 with ageophysical mapping database (e.g., Google Maps®, Google Earth®). Forexample, FIG. 8 depicts a geophysical map 820 with an indication of thelocation of the GNSS receiver 830. Visualizing the flat map 700 with thegeophysical map 820 may enable a user to associate problem conditions ofthe GNSS receiver 120 with physical and electronic features, such as thepresence of a tall building or an air-conditioning unit.

FIG. 9 is a flow diagram of a method for GNSS receiver health andsecurity analysis, according to some embodiments. Method 900 may beperformed by the GNSS receiver analysis system 100 to detect healthand/or security issues with a GNSS receiver 120.

In step 901, the GNSS receiver analysis system 100 generates a new flatheat map. In some embodiments, the GNSS receiver analysis system 100 maygenerate a new flat heat map as described above in connection with FIG.6.

In step 903, the GNSS receiver analysis system 100 analyzes the new flatheat map for a range of signal. In step 905, the GNSS receiver analysissystem 100 detects if there is a problem with the GNSS receiver 120based on the analysis of the range of signal in step 903. In someembodiments, as part of the analysis in step 903, the GNSS receiveranalysis system 100 may flag any conditions that would limit dataaccuracy, such as absence of sufficient regions of strong signalstrength.

Several potential issues with a GNSS receiver 120 may be detected byanalyzing the new heat map. For example, a problem may be detected ifone or more of the following conditions are present: the clear signalareas in the heat map are too small; there are significant occlusions inthe heat map; there are suspiciously strong signals coming from areaswhere satellite signals would be unlikely or impossible (e.g., thegeophysical map database may indicate a structure that would blocksignal); and there are areas of signal strength in the heat map that aretoo uniform, which may indicate a synthetic or terrestrial signal. Theabove conditions are meant to be illustrative, and are not exhaustive.However, those skilled in the art will appreciate that the disclosedheat map analysis constitutes a significant improvement to GNSS receiver120 issue detection since, for example, the heat maps provide astatistical average of GNSS receiver 120 messages over a time interval,rather than simple “current state” data.

For example, consider a situation where an unmanned aerial vehicle(“UAV”) with a GNSS receiver 120 is maneuvering in a given area where itwill frequently change attitude and altitude, thereby changing GPSsignal strength for each satellite 130. By analyzing the observations inobservation database 105 of the satellites 130 a-n over the last Xobservations (or over Y minutes, e.g., a predetermined interval), it canbe determined that the highest signal strength has been a given amount(typically measured in dB/Hz or signal/noise). However, if the new flatmap shows that the aggregate signal strength value is exceeded by acertain amount for that satellite, or for a majority of satellites, thenit can be assumed that the signal being received is not genuine but isbeing generated by a non-genuine GPS satellite in a spoof attempt.Additionally, it is possible to calibrate a given receiver/antennaconfiguration to establish an absolute upper bound on signal strengthpossible for any satellite in any part of the sky. If any satellitesignal strength exceeds this value, as indicated on the flat map, it canbe assumed that the signal is not genuine and is thereby a spoof attemptand must be ignored.

Additionally, the UAV may find the physical location of the source ofthe interference or spoofing by using directional information about thesource of interference or spoofing and computing heat maps fromdifferent locations. For example, triangulation techniques using knownlocations of the heat maps may be used to find a physical location of asource of interference or spoofing. This same technique could beimplemented by a multiplicity of UAVs each computing heat maps indifferent locations so that the multiple maps can be used to pinpointthe location of the source of interference or spoofing. The sametechnique can be employed by moving vehicles or even by stationaryreceivers by combining directional information from a number of maps.For example, GNSS receivers with antennas on rooftops, each producingflat heat maps will produce sufficient information to find a source ofinterference or spoofing that is affecting several of them if theirlocations have sufficient geometrical coverage. The source ofinterference or spoofing can be either stationary or moving.

If a problem is detected in step 905, then the GNSS receiver analysissystem 100 may generate an alert 906. In some embodiments, the generatedalert may comprise a message that is transmitted to one or more userdevices, such as an email, text message, page, automated call, etc. Insome embodiments, an alert may be displayed on the graphical workspacewindow depicted in FIG. 8, for example, as a notice or pop-up window.

If no problem is detected in step 905, then the GNSS receiver analysissystem 100 compares a time series of a plurality of flat heat maps instep 907. For example, the GNSS receiver analysis system 100 may comparethe new flat heat map obtained in step 901 from a more recent timeinterval with one or more flat heat maps from earlier time intervalsthat have been stored in observation database 105. In some embodiments,the GNSS receiver analysis system 100 may generate a time series of theplurality of heat maps for evaluation.

In step 909, the GNSS receiver analysis system 100 determines whether aproblem has been detected using a time series of the flat maps. Ininstances where a static GNSS receiver 120 is being analyzed, a problemmay be detected if one or more of the following conditions aresatisfied: the time series of flat maps indicates a sudden increase ordecrease in region signal strength (e.g., caused by deliberatinginterference or changes in visibility); there are new or removed blockedregions in the time series flat heat map; and areas of signal strengthchange by a uniform amount in the time series flat heat map.

Mobile GNSS receivers 120 may also be analyzed by the GNSS receiveranalysis system 100. Mobile GNSS receivers 120 may experience frequentchanges in signal strength from different satellites due to changes inaltitude and position. Thus, it may be difficult to establish expectedsignal strength reception for areas of the sky sinceobstructions/interference relative to the receiver are not fixed.However, the GNSS receiver analysis system 100, in using time seriesdata of signal strength via heat maps, may generate an upper limit onsignal strength based on historical observations in observation database105 of specific satellites 130 in a region of the sky. Thus, a problemmay be detected if the observed signal strength in the time series heatmap indicates it is within a specified margin of the upper limit on asignal strength or exceeds the specified margin. For example, if thetime series of heat map indicates that observed signal strength isexceeded, the GNSS receiver analysis system 100 may determine that thesignal is not being generated by the satellite 130 itself, but by anattempt to jam/spoof the satellite signal.

For example, one method for “spoofing” GPS is to have a spoofing devicereceive data from GPS satellites 130 so that it “knows” what satellites130 are currently visible and their positions and times, and thentransmit a stronger signal with modified messages that appear to be fromthe same satellites 130. The GNSS receiver 120 may then see continuity,but can be walked off of position. However, this spoofing process mayproduce an anomaly in the time series of flat maps showing contiguousregions of suddenly increased signal strength due to the transmissionfrom the spoofing device. Thus, the GNSS receiver analysis system 100may detect this anomaly and generate an appropriate alert.

In some embodiments, method 900 may further include a step ofincorporating the use of a geophysical database to enhance informationfrom the new flat map and/or the time series of flat maps (e.g., to shownatural or man-made obstructions to satellite signals). Consider anexample where a static flat map indicates that a GPS receiver 120 thatwas intermittently providing low quality time had only a small area ofhigh quality signals and a dark (blocked) area to the north. The datafrom the flat map may be combined with geophysical data, which mayindicate that a new building under construction to the north wasproducing a shadow, in order to better analyze the blocked area in theflat map.

If a problem with the flat heat map series is detected in step 909, thenthe GNSS receiver analysis system 100 may generate an alert in step 911in a similar manner as described above in connection with step 906.However, if no problem is detected in step 909, then the GNSS receiveranalysis system 100 may proceed back to step 901 for continued analysis.

There are numerous immediate applications for the disclosed heat mapsand time series of heat maps, including, for example:

Financial Trading (time data): The systems, methods, and computerprogram products of the present invention could be deployed to provideprecise time for enterprise computer systems used, for example, infinancial trading where time stamp validity is required by regulationand is necessary for forensic trace and proper system functioning. Flatmap data and time series of flat map data can be used both to triggerfailover operations when a problem is detected (for example to switchfrom one GNSS stream to another one if a possible compromise isindicated by a flat map analysis on the first GNSS stream) and to builda validation chain so that time data can be associated with a healthassessment on the GNSS information. This assessment can be supplementedwith analysis of the derived data, e.g. whether the derived timinginformation maintains a constant frequency or whether indications ofsuspicious changes in the heat map coincide with or precede changes infrequency that could confirm suspicions of an attempt to compromise timequality.

In some embodiments, a computer system may utilize the flat map tovalidate and monitor the performance of one or more GNSS receivers 120.In some embodiments, the computer system may generate the flat map byobtaining the underlying reception information directly, and in othersthe computer system may obtain the flat map in some packet form bynetwork communications with a second computer. For example, a dedicatedGNSS receiver/network clock device 120 connected to a computer networkmay permit access via additional computer protocols (such as SecureShell or Telnet) to query for signal information, and the computersystem may use flat map information to validate the quality of time databeing produced by the dedicated GNSS receiver/network clock.

Logistics (time and position data): The systems, methods, and computerprogram products of the present invention could be deployed to controllogistics (e.g. to track movements and transport times of cargocontainers or train cars or trucks). Flat map and time series of flatmap data can be used to cross check position, to determine when failoveris indicated, and to alert to diversion of goods or attempts to replaceactual positioning information with synthetic information in an effortto conceal diversions.

Vehicle Operation (time and position data): GNSS systems are critical tooperation of drones, human controlled aircraft, and other vehicles(including personal automobiles). Flat map data and Flat map time seriesdata, in accordance with the systems, methods, and computer programproducts of the present invention, could be used to validate safetysystems and to protect against diversion or sabotage of position andtime data.

In some embodiments, the systems, methods, and computer program productsof the present invention could be used to determine or find the sourceof an attempted compromise of a GNSS system.

FIG. 10 is a schematic diagram illustrating a possible implementationfor at least some components of a GNSS receiver analysis system,according to some embodiments of the present invention. As shown in FIG.10, GNSS receiver analysis system 1000 may comprise: a computer system(CS) 1002, which may include one or more processors 1055 (e.g., amicroprocessor) and/or one or more circuits, such as an applicationspecific integrated circuit (ASIC), field-programmable gate arrays(FPGAs), a logic circuit, and the like; a network interface 1005 forconnecting GNSS receiver analysis system 1000 to network 140; and a datastorage system 1012, which may include one or more non-volatile storagedevices and/or one or more volatile storage devices (e.g., random accessmemory (RAM)).

In embodiments where GNSS receiver analysis system 1000 includes aprocessor 1055, a computer program product (CPP) 1033 may be provided.CPP 1033 includes or is a non-transitory computer readable medium (CRM)1042 storing a computer program (CP) 1053 comprising computer readableinstructions (CRI) 1044 for performing steps described herein (e.g., oneor more of the steps shown in FIGS. 6 and 9). CP 1053 may include anoperating system (OS) and/or one or more application programs. CRM 1042may include a non-transitory computer readable medium, such as, but notlimited, to magnetic media (e.g., a hard disk), optical media (e.g., aDVD), solid state devices (e.g., random access memory (RAM), flashmemory), and the like.

In some embodiments, the CRI 1044 of computer program 1053 is configuredsuch that when executed by computer system 1002, the CRI causes thesystem 1000 to perform steps described above (e.g., steps describedabove and below with reference to the flow charts shown in thedrawings). In other embodiments, system 1000 may be configured toperform steps described herein without the need for a computer program.That is, for example, computer system 1002 may consist merely of one ormore ASICs. Hence, the features of the embodiments described herein maybe implemented in hardware and/or software.

While various embodiments of the present disclosure have been describedabove, it should be understood that they have been presented by way ofexample only, and not limitation. Thus, the breadth and scope of thepresent disclosure should not be limited by any of the above-describedexemplary embodiments.

1. A computer-implemented method for analyzing a Global NavigationSatellite System (GNSS) receiver comprising: receiving, by the computer,electronic diagnostic information from the GNSS receiver, saiddiagnostic information comprising a plurality of observations atdifferent times of signal strength of one or more satellites at eachpoint in a visible sky; building, by the computer, a flat map of thevisible sky using the received diagnostic information, wherein the flatmap includes a track of the one or more satellites; calculating, by thecomputer, for each point in the visible sky of the flat map, anaggregated signal strength of the one or more satellites over apredetermined interval using the received diagnostic information;generating, by the computer, a heat map over the flat map of the visiblesky and the calculated aggregated signal strengths; displaying, by thecomputer, a visualization of a flat heat map on a graphical userinterface of a display device, the flat heat map comprising thegenerated heat map over the flat map of the visible sky; and, storing,by the computer, the diagnostic information and the flat heat map in anobservation database.
 2. The method of claim 1, further comprising:analyzing, by the computer, the aggregated signal strengths of the oneor more satellites in the flat heat map to detect one or more problemswith the GNSS receiver; and, generating, by the computer, an alert ifthe one or more problems are detected in the flat heat map.
 3. Themethod of claim 2, further comprising: determining, by the computer,whether one or more conditions are present in the flat heat map, theconditions comprising: the clear signal areas in the flat heat map aretoo small; there are significant occlusions in the flat heat map; thereare strong signals coming from areas where satellite signals would beunlikely or impossible in the flat heat map; and there are areas ofsignal strength in the flat heat map that are too uniform.
 4. The methodof claim 1, further comprising: generating, by the computer, a timeseries of a plurality of flat heat maps, the plurality of flat heat mapscomprising the generated flat heat map and one or more stored heat mapsin the observation database; analyzing, by the computer, the time seriesof flat heat maps to detect one or more problems with the GNSS receiver;and generating, by the computer, an alert if the one or more problemsare detected in the time series of flat heat maps.
 5. The method ofclaim 4, further comprising: determining, by the computer, whether oneor more conditions are present in the time series of flat heat maps, theconditions comprising: the time series of heat maps indicates a suddenincrease or decrease in region signal strength, there are new or removedblocked regions in the time series of flat heat maps, and a plurality ofareas of signal strength change by a uniform amount in the time seriesof flat heat maps.
 6. The method of claim 1, further comprising:associating, by the computer, the points in the visible sky of the flatheat map with a geophysical mapping database and, displaying, by thecomputer, the visualization of the flat heat map overlaid on ageophysical mapping database on the display device.
 7. The method ofclaim 1, further comprising: validating, by the computer, a quality ofone or more radio signals from one or more GNSS satellites, based on thediagnostic information and the flat heat map; and detecting, by thecomputer, a problem with the one or more radio signals based on thevalidating.
 8. The method of claim 7, further comprising: triggering, bythe computer, a failover operation in response to the detecting aproblem with the one or more radio signals.
 9. The method of claim 8,wherein the failover operation comprises one or more of: switching froma stream from the one or more GNSS satellites to an alternative GNSSstream, validating a safety system, and replacing positioning, time, ora combination of positioning and time information from the one or moreGNSS satellites with synthetic information.
 10. A system for analyzing aGlobal Navigation Satellite System (GNSS) receiver comprising: anobservation database in electronic communication with a network; a GNSSreceiver analysis computer comprising a processor, a data storage unit,a network interface, and a display device in electronic communicationwith the network, wherein the processor is configured to cause theserver to perform the following steps: receive, over the network,electronic diagnostic information from the GNSS receiver, saiddiagnostic information comprising a plurality of observations atdifferent times of signal strength of one or more satellites at eachpoint in a visible sky; build a flat map of the visible sky using thereceived diagnostic information, wherein the flat map includes a trackof the one or more satellites; calculate, for each point in the visiblesky, an aggregated signal strength of the one or more satellites over apredetermined interval using the received diagnostic information;generate a heat map over the flat map of the visible sky and thecalculated aggregated signal strengths; display a visualization of aflat heat map on a graphical user interface of the display device, theflat heat map comprising the generated heat map over the flat map of thevisible sky; and store the diagnostic information and the flat heat mapin the observation database.
 11. The system of claim 10, wherein theprocessor is configured to cause the server to perform the additionalsteps of: analyze the aggregated signal strengths of the one or moresatellites in the flat heat map to detect one or more problems with theGNSS receiver; and generate an alert if the one or more problems aredetected in the flat heat map.
 12. The system of claim 11, wherein theanalyzing comprises: determine whether one or more conditions arepresent in the flat heat map, the conditions comprising: the clearsignal areas in the flat heat map are too small; there are significantocclusions in the flat heat map; there are strong signals coming fromareas where satellite signals would be unlikely or impossible in theflat heat map, and there are areas of signal strength in the flat heatmap that are too uniform.
 13. The system of claim 10, wherein theprocessor is configured to cause the server to perform the additionalsteps of: generate a time series of a plurality of flat heat maps, theplurality of flat heat maps comprising the generated flat heat map andone or more stored flat heat maps in the observation database; analyzethe time series of flat heat maps to detect one or more problems withthe GNSS receiver; and generate an alert if the one or more problems aredetected in the time series of flat heat maps.
 14. The system of claim13, wherein the processor is configured to cause the server to performthe additional step of: determine whether one or more conditions arepresent in the time series of flat heat maps, the conditions comprising:the time series of flat heat maps indicates a sudden increase ordecrease in region signal strength, there are new or removed blockedregions in the time series of flat heat maps, and a plurality of areasof signal strength change by a uniform amount in the time series of flatheat maps.
 15. The system of claim 10, wherein the processor isconfigured to cause the server to perform the additional steps of:associate the points in the visible sky of the flat heat map with ageophysical mapping database; and display, by the computer, thevisualization of the flat heat map overlaid on a geophysical mappingdatabase on the display device.
 16. A non-transitory computer readablemedium storing computer readable program code executable by a processorof a computer system for analyzing a Global Navigation Satellite System(GNSS) receiver and causing the computer system to perform the steps of:receive electronic diagnostic information from the GNSS receiver, saiddiagnostic information comprising a plurality of observations atdifferent times of signal strength of one or more satellites at eachpoint in a visible sky; build a flat map of the visible sky using thereceived diagnostic information, wherein the flat map includes a trackof the one or more satellites; calculate, for each point in the visiblesky, an aggregated signal strength of the one or more satellites over apredetermined interval using the received diagnostic information;generate a heat map over the flat map of the visible sky and thecalculated aggregated signal strengths; display a visualization of aflat heat map on a graphical user interface of a display device of thecomputer system, the flat heat map comprising the generated heat mapover the flat map of the visible sky; and store the diagnosticinformation and the flat heat map in an observation database.
 17. Thenon-transitory computer readable medium of claim 16, further causing thecomputer system to perform the steps of: analyze the aggregated signalstrengths of the one or more satellites in the flat heat map to detectone or more problems with the GNSS receiver; and, generate an alert ifthe one or more problems are detected in the flat heat map.
 18. Thenon-transitory computer readable medium of claim 17, further causing thecomputer system to perform the steps of: determine whether one or moreconditions are present in the flat heat map, the conditions comprising:the clear signal areas in the flat heat map are too small; there aresignificant occlusions in the flat heat map; there are strong signalscoming from areas where satellite signals would be unlikely orimpossible in the flat heat map; and there are areas of signal strengthin the flat heat map that are too uniform.
 19. The non-transitorycomputer readable medium of claim 16, further causing the computersystem to perform the steps of: generate a time series of a plurality offlat heat maps, the plurality of flat heat maps comprising the generatedflat heat map and one or more stored heat maps in the observationdatabase; analyze the time series of flat heat maps to detect one ormore problems with the GNSS receiver; and generate an alert if the oneor more problems are detected in the time series of flat heat maps. 20.The non-transitory computer readable medium of claim 19, further causingthe computer system to perform the steps of: determine whether one ormore conditions are present in the time series of flat heat maps, theconditions comprising: the time series of heat maps indicates a suddenincrease or decrease in region signal strength, there are new or removedblocked regions in the time series of flat heat maps, and a plurality ofareas of signal strength change by a uniform amount in the time seriesof flat heat maps.
 21. The non-transitory computer readable medium ofclaim 16, further causing the computer system to perform the steps of:associate the points in the visible sky of the flat heat map with ageophysical mapping database and, display the visualization of the flatheat map overlaid on a geophysical mapping database on the displaydevice.
 22. A computer-implemented method for improving the reliabilityof a computer that performs time sensitive or time stamped dataprocessing, the method comprising: receiving, by the computer,electronic diagnostic information from a Global Navigation SatelliteSystem (GNSS) receiver, said diagnostic information comprising aplurality of observations at different times of signal strength of oneor more satellites at each point in a visible sky; building, by thecomputer, a flat map of the visible sky using the received diagnosticinformation, wherein the flat map includes a track of the one or moresatellites; calculating, by the computer, for each point in the visiblesky of the flat map, an aggregated signal strength of the one or moresatellites over a predetermined interval using the received diagnosticinformation; generating, by the computer, a heat map over the flat mapof the visible sky and the calculated aggregated signal strengths;validating, by the computer, a quality of one or more radio signals fromone or more GNSS satellites based on the diagnostic information and theflat heat map; and, synchronizing, by the computer, one or more systemclocks to reference time carried by the one or more GNSS satellitesbased on the validating.
 23. The method of claim 22, wherein the one ormore system clocks are implemented on a network clock device thatprovides reference time to one or more client or slave computers over acomputer network.
 24. A computer-implemented method for improving thereliability of a system that distributes reference time information overa computer network, the method comprising: receiving, by the system,electronic diagnostic information from a Global Navigation SatelliteSystem (GNSS) receiver, said diagnostic information comprising aplurality of observations at different times of signal strength of oneor more satellites at each point in a visible sky; building, by thesystem, a flat map of the visible sky using the received diagnosticinformation, wherein the flat map includes a track of the one or moresatellites; calculating, by the system, for each point in the visiblesky of the flat map, an aggregated signal strength of the one or moresatellites over a predetermined interval using the received diagnosticinformation; generating, by the system, a heat map over the flat map ofthe visible sky and the calculated aggregated signal strengths;transmitting, by the system, the flat heat map, the diagnosticinformation, or a combination of the flat heat map and the diagnosticinformation, over the network to one or more networked computers topermit the networked computers to determine whether the system isreceiving reference time carried by one or more GNSS satellites in areliable manner.
 25. A computer-implemented method for validating andmonitoring the performance of one or more Global Navigation SatelliteSystem (GNSS) receivers, the method comprising: receiving, by acomputer, electronic diagnostic information, said diagnostic informationcomprising a plurality of observations at different times of signalstrength of one or more satellites at each point in a visible sky;receiving, by the computer, a flat heat map, wherein the flat heat mapis based on the electronic diagnostic information and comprises acombination of: a heat map of aggregate signal strength of the one ormore satellites over a predetermined interval, and a flat map of one ormore tracks of the one or more satellites; validating, by the computer,a quality of reference time data carried by one or more radio signalsfrom one or more GNSS satellites based on the diagnostic information andthe flat heat map.